EP1096459B1 - Kollisionsvermeidungssystem - Google Patents

Kollisionsvermeidungssystem Download PDF

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Publication number
EP1096459B1
EP1096459B1 EP20000309507 EP00309507A EP1096459B1 EP 1096459 B1 EP1096459 B1 EP 1096459B1 EP 20000309507 EP20000309507 EP 20000309507 EP 00309507 A EP00309507 A EP 00309507A EP 1096459 B1 EP1096459 B1 EP 1096459B1
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EP
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Prior art keywords
vehicle
crossing
driver
road
service
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Expired - Lifetime
Application number
EP20000309507
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English (en)
French (fr)
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EP1096459A3 (de
EP1096459A2 (de
Inventor
Naoya Noguchi
Akihiko c/o NEC Corporation Takiguchi
Koji c/o Nippon Telegraph & Telephone Co. Kubota
Satoshi c/o Isuzu Motors Limited Moteki
Harutada c/o Oki Electric Industry Co. Ltd. Ooya
Hideaki c/o Omron Corporation Murakami
Masaya c/o Sumitomo Electric Ind. Ltd. Yamada
Hiroshi c/o Nissan Motor Co. Ltd. Takahashi
Akira c/o Denso Corporation Kuno
Hisashi c/o Toshiba Co. Ezure
Tetsuaki c/o Hitachi Ltd. Kondo
Ryoji c/o Hitachi Cable Ltd. Matsubara
Yasuyuki c/o Fujitsu Limited Ohira
Kenichi c/o The Furukawa Electric Co.Ltd. Ohtani
Hiroshi c/o Honda Motor Co. Ltd. Mashimo
Takao c/o Matsushita Electric Ind.Co.Ltd. Inobe
Kazumasa c/o Mitsubishi Heavy Ind. Ltd. Miyamoto
Kazutaka c/o Mitsubishi Electric Corp. Kawahara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute for Land and Infrastructure Management
Original Assignee
DIRECTOR GENERAL OF NAT INST F
National Institute for Land and Infrastructure Management
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Application filed by DIRECTOR GENERAL OF NAT INST F, National Institute for Land and Infrastructure Management filed Critical DIRECTOR GENERAL OF NAT INST F
Publication of EP1096459A2 publication Critical patent/EP1096459A2/de
Publication of EP1096459A3 publication Critical patent/EP1096459A3/de
Application granted granted Critical
Publication of EP1096459B1 publication Critical patent/EP1096459B1/de
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles

Definitions

  • the present invention relates to an bumping prevention system which is used, for instance, in the field of traffic signal control and prevents bumping between a vehicle running in a non-priority road and a vehicle running in a priority road at a crossing between the two roads by transacting signals with on-road infrastructure in a service area between fixed point information detection support facility for service-in installed at a point by a specified distance away from the crossing on the non-priority road and a fixed point information detection support facility for service-out installed at a point near the crossing.
  • the bumping prevention system is a system for preventing bumping between a vehicle running on a non-priority road and a vehicle running on a priority road at a crossing between the two roads by transacting signals with on-road infrastructure in a service area between a fixed point information detection support facility for service-in installed at a point away by a specified distance from the crossing on the non-priority road and a fixed point information detection support facility for service-out installed at a position near the crossing, and when a vehicle passes by the fixed point detection support facility for service-in and enters the service area, the vehicle recognizes availability of providing information, alarms, and control for prevention of expected bumping at a crossing upon reception of a signal indicating entry into a service area from the support facilities, and starts computing of a position of the current by recognizing a distance between the current running position of the vehicle and a priority road.
  • the system When the vehicle receives information concerning vehicles on a priority road from the on-road infrastructure and recognized that a vehicle just about to enter the crossing is present on the priority road, the system provides information concerning the crossing as well as the vehicle just about to enter the crossing at a point away by a distance enough to decelerate and stop the vehicle by the crossing, and further when it is determined that there is the possibility of collision between the vehicle running on the non-priority road and the vehicle running on the priority road and just about to enter the crossing, the system gives an alarm indicating the possibility of bumping to a driver of the vehicle running on the non-priority road. Further when it is expected that there is the possibility of bumping between the vehicle and another vehicle running on the priority road and entering the crossing, the system continuously provides controls for emergently decelerating or stopping the vehicle in front of the crossing.
  • the bumping prevention system is further a system for preventing bumping between a vehicle running on a non-priority road and a vehicle running on a priority road at a crossing between the two roads by transacting signals with on-road infrastructure in a service area between a fixed point information detection support facility for service-in installed at a point away by a specified distance from the crossing on the non-priority road and a fixed point information detection support facility for service-out installed at a position near the crossing, and when a vehicle passes by the fixed point information detection facility for service-in and enters the service area, the vehicle receives a signal indicating start of the service area from the support facility and recognizes the availability of information provision service for preventing expected bumping after restart.
  • the vehicle When the vehicle stops in front of the crossing, the vehicle obtains information concerning vehicles on a priority road from the on-road infrastructure and if the vehicle recognizes presence of a pedestrian or a vehicle just about to enter the crossing on a priority road, information indicating presence of the pedestrian or vehicle is given to the driver.
  • the bumping prevention system is a system for preventing bumping between a vehicle running on a non-priority road and a vehicle running on a priority road at a crossing between the two roads by transacting signals with on-road infrastructure in a service area between a fixed point information detection support facility for service-in installed at a point away by a specified distance from the crossing on the non-priority road and a fixed point information detection support facility for service-out installed at a position near the crossing, and when a vehicle passes by a fixed point information detection support facility for service-in and enters a service area, the vehicle recognizes availability of the service for providing information, alarms, and controls for prevention of bumping when the vehicle accesses a crossing or availability of the information provision service for prevention of expected bumping after the vehicle once stops in front of the crossing and then restarts upon reception of a signal indicating start of the service area from the support facilities, and starts computing a position of the vehicle by grasping the distance from the running position of the vehicle up to the priority road.
  • the system When the vehicle obtains information concerning vehicles on the priority road from the on-road infrastructure and recognizes that a vehicle just about to enter the crossing is present on the priority road, the system provides information concerning the crossing as well as presence of the vehicle just entering the crossing on the priority road to the driver at a point where the driver can decelerate and stop the vehicle in front of the crossing. Further when it is determined that there is the possibility of bumping with the vehicle just entering the crossing, this system gives an alarm indicating the possibility of bumping to the driver at a point where the driver can brake and stop the vehicle in an emergency in front of the crossing.
  • the system continuously provides controls for support in braking in a range from a point where the driver can brake and stop the vehicle in front of the crossing up to a point just in front of the crossing.
  • the system obtained information concerning vehicles on the priority road and gives to the driver information concerning the vehicle, if any.
  • Fig. 1 is a block diagram showing general configuration of this system, and in the system shown in the figure, the number of each facility may vary according to a point where the facility is installed or a monitoring range for the on-road facility, but a number of facility is not an important factor. Also the input/output data in this figure indicates only those essentially, required in this system.
  • on-road facility as the on-road infrastructure constituting the system as well as of facilities loaded on an AHS car as an example of vehicle are described.
  • AHS is an abbreviation of Advanced-cruise-assist Highway System indicating a road system enabling automatic driving of vehicles
  • the AHS car indicating a car which can automatically be controlled by the Advanced-cruise-assist Highway System.
  • the on-road facilities of this system comprises a fixed point information detection support facilities 1, 2 provided on a non-priority road, and a vehicle detection facility 3, an on-road processing facility 4, an on-road database 5, and a road-to-vehicle communications facility 6 each provided on a priority road, and functions of each facility are as described below.
  • the fixed point information detection support facilities 1, 2 are facilities used in a pair with a fixed point information detection sensor 8 loaded on the AHS car 7, and the AHS car 7 having passed the fixed point information detection support facility 1 installed at a specified position on the road can recognize a service-in point, a type of the provided service, and a service-out point.
  • the vehicle detection facility 3 detects behaviors (such as a position and a velocity) of vehicles (including two-wheel vehicles) running on a priority road.
  • the on-road processing facility (including the running support information preparation facility) 4 is a computing/processing unit as a main device among the on-road facilities for this service, and the facility 4 executes operations mainly for processing input/output data and preparing output data.
  • the on-road database 5 is a database in which data required for the service is stored, and in this system information concerning road line form of objective priority roads and non-priority roads.
  • the system provides the information when accessed by the on-road processing facility 4.
  • the road-to-vehicle communications facility 6 executes communications between the on-road facilities and a vehicle, and in this system the road-to-vehicle communications facility 6 provides mainly information concerning vehicles on a priority road and information concerning road line form to the AHS car 7.
  • the fixed point information detection sensor is a facility used as a pair with the fixed point information detection support facility 1, and detects such factors as a type of available service, a service area length, and service-out or the like when the vehicle passes by the fixed point information support facility 1 installed at a specified position on the road.
  • the AHS car position detection sensor 12 detects a position of the AHS car based on the information from the fixed point information detection support facility 1.
  • the road-to-vehicle communications device 13 controls communications between on-road facilities and vehicles.
  • the peripheral situation detection sensor 14 detects a situation around the AHS car.
  • the AHS car state detection sensor 15 detects a velocity, acceleration or the like of the AHS car.
  • the on-vehicle processing device (including also the computing/processing unit) 16 is a device which collects information required for the AHS car and executes processing such as provision of information, computing, and determination, and in this system the on-vehicle processing device 16 provides information concerning presence of a vehicle entering a crossing, determines the possibility of bumping, and gives an instruction for alarm to the on-vehicle HMI (Human Machine Interface) 17 and a control instruction value to the vehicle control unit 18 when it is determined that there is the possibility of bumping.
  • HMI Human Machine Interface
  • Fig. 2 shows a crossing 9 (without any alarm) between a non-priority road 22 with a stop line 21 provided thereon and a priority road 23, and this figure shows an example in which a priority road with two lanes to which the present invention is applied and a non-priority road with one lane.
  • Fig. 2 assumes that the fixed point information detection support facility 1 for service-in installed at a point P 1 away by a specified point (for instance, 40 m) from the crossing 9 can recognize a service-in point, a service-out point, an area length, and a type of available service.
  • the AHS car 7 passes by the point P 1 and enters the service area 24, the AHS car recognizes availability of the service for providing information, alarms, and controls for prevention of bumping during access to the crossing 9, grasps a running position of the AHS car and a distance up to a priority road, and starts computing for a position of the AHS car.
  • the AHS car 7 having reached the point P 1 activates the service for providing information, alarms, and controls for prevention of bumping and immediately start acquisition of the information concerning vehicles running on the priority road 23 from the on-road infrastructure.
  • the information concerning vehicles on the priority road 23 is transmitted at a prespecified cycle (typically at a cycle of 0.1 second) through the road-to-vehicle communications facility 6.
  • the AHS car 7 in the service area 24 continues to run and passes through the crossing 9, the AHS car 7 determines whether there is the possibility of collision of the AHS car with another vehicle 25 running on the priority road 23.
  • Fig. 2 shows an example of determination on the possibility of collision of the AHS car with the vehicle 25 from the upstream side of the priority road 23 at the crossing 9.
  • it is required only to check how the time zone in which the vehicle approaching the crossing 9 from the upstream side of the priority road 23 resides on the crossing overlaps with the time zone in which the AHS car 7 resides within the crossing 9. Namely, if the two time zones overlap with each other, it is determined that there is the possibility of collision, and if the two time zones do not overlap with each other, it is determined that there is not the possibility of collision.
  • the AHS car 7 can determine the possibility of collision by assuming a constant acceleration pattern (including a uniform velocity movement) and also assuming that the vehicle 25 approaching from the upstream side of the priority road 23 to the crossing continues to run at the current velocity measured at the current point detected by the vehicle detection facility 3.
  • an alarm is generated, and at the same time controls are provided to control running of the vehicle with the vehicle control unit 18.
  • the AHS car receives information concerning vehicles just about to enter the crossing.
  • the fixed point information detection support facility 2 installed at the point p 2 is for enabling detection of service out, and provision of the service is finished when the AHS car 7 has passed over this point.
  • Fig. 3 is an explanatory view showing a scenario in this bumping prevention system, and is a flow chart showing the operations described above.
  • Fig. 4 is a time chart for the bumping prevention system centering on the on-road processing facility 4 at the crossing shown in Fig. 2.
  • input to the on-road processing facility in this system is information concerning a velocity and a position of a vehicle on the priority road 23.
  • Information concerning vehicles on the priority road 23 is inputted once for every 0.1 second from the vehicle detection facility 3, and is stored in the on-road database 5.
  • the on-road processing facility 4 prepares information to be transmitted to the AHS vehicle 7 once for every 0.1 second.
  • Fig. 5 and Fig. 6 show processing flows by the on-road processing facility 4 at the crossing shown in Fig. 2.
  • Fig. 5 shows a flow of processing a data concerning a position and a velocity of the vehicle 25 on the priority road 23 detected by the vehicle detection facility 3. The processing is executed once for every 0.1 second, and the data is stored as data 1 indicating a position and a velocity of the detected vehicle and a time of detection of the data in the on-road database 5.
  • Fig. 6 shows a processing flow for preparation of output data to be sent to the ASH car 7. This processing is executed once for every 0.1 second, and the prepared output data is once stored in the on-road database 5. The stored output data is transmitted from the road-to-vehicle communications facility 6 to the AHS car 7. The information concerning a velocity and a position of the vehicle 25 on the priority road 23 detected by the vehicle detection facility 3 is used for determination of the possibility of bumping.
  • Fig. 7 is a time chart of the processing for computing a range of management by the on-road facility on the bumping prevention system shown in Fig. 2, and mainly shows the AHS car and the driver's operations.
  • the bumping prevention system has the vehicle detection facility 3 installed on the priority road 23 and the fixed information detection support facilities 1, 2 installed on a non-priority road.
  • the bumping prevention system mainly computes a range of monitoring by the vehicle detection facility 3 for monitoring the vehicle 25 running on the priority road 23 toward the crossing 9 and a range of communications for a vehicle to be serviced.
  • the total time T k from a point of time when a driver of the AHS car 7 running on a non-priority road 22 recognizes presence of a vehicle 25 entering a crossing on the priority road and brakes the AHS car 7 until the point of time when the AHS car 7 stops in front of the stop line is computed.
  • a distance L l between the crossing 9 and the vehicle at the distal point can be obtained by multiplying the total time T k by the maximum velocity V of the vehicle 25.
  • T 3 T 2 + T 1 + T 0
  • T 2 is a period of time from the point when the driver recognizes a situation on the priority road 23 until a point of time when the driver determines the possibility of bumping
  • T 1 is a period of time required for changing a foot position from the accelerator to the brake
  • T 0 is a period of time required for actually stepping on the accelerator.
  • T 5 V a + T 4 2
  • the range of communications is 40 m when the first digit is rounded up.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Emergency Alarm Devices (AREA)
  • Alarm Systems (AREA)

Claims (4)

  1. Kollisionsvermeidungssystem zum Vermeiden einer Kollision zwischen einem Fahrzeug (7), das auf einer Nichtvorfahrtsstraße (22) fährt, und einem anderen Fahrzeug (25), das auf einer Vorfahrtsstraße (23) fährt, an einer Kreuzung (9) zwischen den Straßen (22, 23) durch Übermitteln von Signalen mit einer Straßeninfrastruktur in einem Servicebereich (24) von einer Festpunktunterstützungseinrichtung zur Informationserkennung für einen Servicebeginn (1), die an einem Punkt installiert ist, der um einen spezifischen Abstand von der Kreuzung (9) entfernt ist, zu einer Festpunktunterstützungseinrichtung zur Informationserkennung für einen Serviceausgang (2), die an einem Punkt in der Nähe der Kreuzung (9) installiert ist,
    wobei das System beginnt, durch Erfassen eines Abstands von einer momentanen Position des Fahrzeugs (7) bis zu der Vorfahrtsstraße (23) eine Position des Fahrzeugs (7) zu berechnen, wenn das Fahrzeug (7) an der Festpunktunterstützungseinrichtung zur Informationserkennung für einen Servicebeginn (1) vorbeifährt und den Servicebereich (24) betritt, und für den Fahrer des Fahrzeugs Information bereitstellt, welche Information bezüglich des Vorhandenseins der Kreuzung (9) betrifft,
    wobei das System dadurch gekennzeichnet ist, dass:
    wenn das Fahrzeug (7) an der Festpunktunterstützungseinrichtung zur Informationserkennung für einen Servicebeginn (1) vorbeifährt und den Servicebereich (24) betritt, ein Fahrer des Fahrzeugs (7) von der Unterstützungseinrichtung ein Signal empfängt, das den Beginn des Servicebereichs (24) anzeigt und die Verfügbarkeit der Dienste zur Bereitstellung von Information, Alarmen und Steuerungen zur Vermeidung von Kollisionen erkennt, wenn es sich der Kreuzung (9) nähert, und dadurch, dass
    das System von der Straßeninfrastruktur Information über Fahrzeuge (25) auf der Vorfahrtsstraße (23) erwirbt und ferner Information für den Fahrer des Fahrzeugs (7) über Fahrzeuge (25) bereitstellt, welche in die Kreuzung (9) an einem Punkt einfahren, bei dem der Fahrer das Fahrzeug (7) mit einer ausreichenden Zeittoleranz bremsen kann, um das Fahrzeug (7) vor der Kreuzung (9) anzuhalten, wenn irgendein Fahrzeug (25) auf der Vorfahrtsstraße (23) in die Kreuzung (9) einfährt, ein Alarmsignal gibt, der vor der Möglichkeit einer Kollision an einer Position warnt, an welcher der Fahrer das Fahrzeug (7) in einem Notfall mit der nötigen Zeittoleranz bremsen kann, um das Fahrzeug (7) vor der Kreuzung (9) anzuhalten, wenn ermittelt wird, dass die Möglichkeit zu einer Kollision mit einem Fahrzeug (25) besteht, das in die Kreuzung (9) einfährt, und in einem Bereich von der Position, an welcher der Fahrer das Fahrzeug (7) in einem Notfall mit der notwendigen Zeittoleranz bremsen kann, um das Fahrzeug (7) vor der Kreuzung (9) anzuhalten, bis zu einer Position vor der Kreuzung (9) kontinuierlich Steuerungen zur Bremsunterstützung bereitstellt.
  2. Kollisionsvermeidungssystem nach Anspruch 1, wobei das System für einen Fahrer eines Fahrzeugs (7) Information bereitstellt, die einen Zeitraum berücksichtigt, in dem der Fahrer auf die Information reagiert, sowie einen Zeitraum, in dem der Bremsvorgang tatsächlich ausgeführt wird, dem Fahrer ein Alarmsignal gibt und einen Zeitraum berücksichtigt, in dem der Fahrer auf den Alarm reagiert und der Bremsvorgang tatsächlich von dem Fahrer ausgeführt wird, sowie eine automatische Steuerung zum Anhalten des Fahrzeugs (7) bereitstellt, die eine Verzögerungszeit dieses Steuersystems und einen Zeitraum berücksichtigt, der erforderlich ist, bis der Bremsvorgang bei der Notbremsung tatsächlich ausgeführt wird.
  3. Kollisionsvermeidungssystem nach Anspruch 1 oder 2, wobei ein Fahrer des Fahrzeugs (7) ferner von der Unterstützungseinrichtung ein Signal empfängt, das den Beginn des Servicebereichs (24) anzeigt, wenn das Fahrzeug (7) an der Festpunktunterstützungseinrichtung zur Informationserkennung für einen Servicebeginn (1) vorbeifährt und einen Servicebereich (24) betritt, und die Verfügbarkeit eines Dienstes zur Bereitstellung von Information zur Vermeidung einer Kollision erkennt, nachdem das Fahrzeug (7) vor der Kreuzung (9) angehalten hat und dann wieder losfährt, und das System ferner von der Straßeninfrastruktur Information über Fahrzeuge (25) auf der Vorfahrtsstraße (23) erwirbt, wenn das Fahrzeug (7) vor der Kreuzung (9) anhält, und für den Fahrer Information bereitstellt, die das Vorhandensein des Fahrzeugs (25) betrifft, wenn ermittelt wird, dass irgendein Fahrzeug (25) vorhanden ist, das in die Kreuzung (9) einfährt.
  4. Kollisionsvermeidungssystem zum Vermeiden einer Kollision zwischen einem Fahrzeug (7), das auf einer Nichtvorfahrtsstraße (22) fährt, und einem anderen Fahrzeug (25), das auf einer Vorfahrtsstraße (23) fährt, an einer Kreuzung (9) zwischen den zwei Straßen (22, 23) durch Übermitteln von Signalen mit einer Straßeninfrastruktur in einem Servicebereich (24) von einer Festpunktunterstützungseinrichtung zur Informationserkennung für einen Servicebeginn (1), die an einem Punkt installiert ist, der um einen spezifischen Abstand von der Kreuzung (9) entfernt ist, zu einer Festpunktunterstützungseinrichtung zur Informationserkennung für einen Serviceausgang (2), die an einem Punkt in der Nähe der Kreuzung (9) installiert ist,
    wobei das System dadurch gekennzeichnet ist, dass:
    wenn das Fahrzeug (7) an der Festpunktunterstützungseinrichtung zur Informationserkennung für einen Servicebeginn (1) vorbeifährt und den Servicebereich (24) betritt, ein Fahrer des Fahrzeugs (7) von der Unterstützungseinrichtung ein Signal empfängt, das den Beginn des Servicebereichs (24) anzeigt, und die Verfügbarkeit des Dienstes zur Bereitstellung von Information zur Vermeidung einer Kollision erkennt, nachdem das Fahrzeug (7) vor einer Kreuzung (9) angehalten hat und dann wieder losfährt, und dadurch, dass das Fahrzeug (7) von der Straßeninfrastruktur Information erwirbt, welche die Fahrzeuge (25) auf der Vorfahrtsstraße (22) betrifft, sobald das Fahrzeug (7) vor der Kreuzung (9) angehalten hat, und das System für den Fahrer, wenn irgendein Fahrzeug (25) in die Kreuzung (9) auf der Vorfahrtsstraße (23) einfährt, Information bereitstellt, welche das Vorhandensein des Fahrzeugs (25) betrifft.
EP20000309507 1999-10-27 2000-10-27 Kollisionsvermeidungssystem Expired - Lifetime EP1096459B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP30509599 1999-10-27
JP30509599A JP3484492B2 (ja) 1999-10-27 1999-10-27 出合い頭衝突防止システム

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EP1096459A2 EP1096459A2 (de) 2001-05-02
EP1096459A3 EP1096459A3 (de) 2002-07-24
EP1096459B1 true EP1096459B1 (de) 2006-04-19

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DE60027384T2 (de) 2007-02-01
JP3484492B2 (ja) 2004-01-06
EP1096459A3 (de) 2002-07-24
EP1096459A2 (de) 2001-05-02
DE60027384D1 (de) 2006-05-24

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